Examples with MechModel artisynth.core.mechmodels.MechModel used on opensource projects

Example 16 with MechModel

use of artisynth.core.mechmodels.MechModel in project artisynth_core by artisynth.

the class SkinDemo method build.

public void build(String[] args) {
    model = new MechModel("Arm");
    addModel(model);
    model.setIntegrator(MechSystemSolver.Integrator.RungeKutta4);
    model.setMaxStepSize(0.01);
    setupRenderProps();
    addRigidBodies();
    addJoint();
    addMuscle();
    // addAntagonist();
    addEndPoint();
    addSkinMesh();
    addFiberMesh();
    addProbes();
    addPanel();
}

Example 17 with MechModel

use of artisynth.core.mechmodels.MechModel in project artisynth_core by artisynth.

the class SpringMeshDemo method setAttachment.

public void setAttachment(boolean enable) {
    if (models().size() > 0) {
        MechModel model = (MechModel) models().getByNumber(0);
        Particle pntA = model.particles().get("pntA");
        Particle pntB = model.particles().get("pntB");
        // make sure model is consistent
        if (pntA.isAttached() && !enable) {
            model.detachPoint(pntA);
        } else if (!pntA.isAttached() && enable) {
            model.attachPoint(pntA, pntB);
        }
    }
    pointsAttached = enable;
}

Example 18 with MechModel

use of artisynth.core.mechmodels.MechModel in project artisynth_core by artisynth.

the class SpringMeshDemo method build.

public void build(String[] args) {
    MechModel msmod = new MechModel("msmod");
    // PropertyInfoList list = msmod.getAllPropertyInfo();
    // for (PropertyInfo info : list)
    // { System.out.println (info.getName());
    // }
    msmod.setGravity(0, 0, -9.8);
    // msmod.setGravity (0, 0, 0);
    msmod.setPointDamping(1.0);
    // msmod.setIntegrator (new ForwardEuler());
    // // set view so tha points upwards
    // X.R.setAxisAngle (1, 0, 0, -Math.PI/2);
    // viewer.setTransform (X);
    RenderProps.setPointStyle(msmod, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(msmod, 2);
    RenderProps.setPointColor(msmod, Color.RED);
    RenderProps.setLineRadius(msmod, 0.5);
    RenderProps.setLineStyle(msmod, Renderer.LineStyle.CYLINDER);
    // PlaneCollider collider =
    // new PlaneCollider("plane",
    // new Plane(0, 0, 1, planeZ), 200, 50);
    // collider.setRenderPosition (new Point3d(0, 0, 0), 25);
    // collider.addMechModel (msmod);
    RenderProps props = (new Particle()).createRenderProps();
    props.setPointRadius(2);
    props.setPointStyle(Renderer.PointStyle.SPHERE);
    props.setPointColor(Color.GREEN);
    Particle p0 = new Particle(5, -10, 0, 20);
    p0.setRenderProps(props);
    p0.setDynamic(false);
    Particle p1 = new Particle(5, 0, 0, 25);
    p1.setRenderProps(props);
    Particle p2 = new Particle(5, 0, 0, 15);
    p2.setRenderProps(props);
    Particle p3 = new Particle(5, 10, 0, 20);
    p3.setRenderProps(props);
    AxialSpring[] springs = new AxialSpring[10];
    for (int i = 0; i < springs.length; i++) {
        springs[i] = new AxialSpring(50, 20, 10);
    }
    msmod.particles().addNumbered(p0, 5);
    msmod.particles().addNumbered(p1, 4);
    msmod.particles().addNumbered(p2, 0);
    msmod.particles().addNumbered(p3, 1);
    // msmod.particles().add (p0);
    // msmod.particles().add (p1);
    // msmod.particles().add (p2);
    // msmod.particles().add (p3);
    msmod.attachAxialSpring(p0, p1, springs[0]);
    msmod.attachAxialSpring(p0, p2, springs[1]);
    msmod.attachAxialSpring(p1, p2, springs[2]);
    msmod.attachAxialSpring(p1, p3, springs[3]);
    msmod.attachAxialSpring(p2, p3, springs[4]);
    Particle p10 = new Particle(5, 10, 0, 20);
    Particle p11 = new Particle(5, 5, 0, 10);
    Particle p12 = new Particle(5, 15, 0, 10);
    Particle p13 = new Particle(5, 10, 0, 0);
    msmod.addParticle(p10);
    msmod.addParticle(p11);
    msmod.addParticle(p12);
    msmod.addParticle(p13);
    // add names to some particles so they can be found for probing and
    // attachment
    p0.setName("pnt0");
    p3.setName("pntA");
    p10.setName("pntB");
    p13.setName("pnt7");
    msmod.attachAxialSpring(p10, p11, springs[5]);
    msmod.attachAxialSpring(p10, p12, springs[6]);
    msmod.attachAxialSpring(p11, p12, springs[7]);
    msmod.attachAxialSpring(p11, p13, springs[8]);
    msmod.attachAxialSpring(p12, p13, springs[9]);
    // test for bad component insertion:
    // Particle px = new Particle (5, 10, 0, 0);
    // Particle py = new Particle (5, 10, 0, 0);
    // msmod.attachAxialSpring (px, py, new AxialSpring (50, 20, 10));
    msmod.setBounds(new Point3d(0, 0, -25), new Point3d(0, 0, 25));
    addModel(msmod);
    msmod.scaleMass(4);
    setAttachment(true);
    // int numWays = 10;
    // double res = 1;
    // for (int i=0; i<numWays; i++)
    // { Main.getWorkspace().addWayPoint (
    // new WayPoint(TimeBase.secondsToTicks((i+1)*res), true));
    // }
    addControlPanel();
    addProbes(msmod);
    addWayPoint(0.5);
    // addBreakPoint (1.0);
    addWayPoint(1.0);
    addWayPoint(1.5);
    ReferenceList refs = new ReferenceList("refs");
    refs.addReference(p0);
    refs.addReference(p1);
    refs.addReference(p10);
    refs.addReference(p11);
    refs.addReference(msmod.particles());
    msmod.add(refs);
// msmod.setProfiling (true);
}

Example 19 with MechModel

use of artisynth.core.mechmodels.MechModel in project artisynth_core by artisynth.

the class LinearAuxiliaryTest method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    MechModel mech = new MechModel("mech");
    addModel(mech);
    double h = 0.1;
    double r = 0.005;
    LinearMaterial lmat = new LinearMaterial(50000, 0.45, true);
    FemModel3d fem1 = createCylinder(h, r);
    fem1.setName("auxiliary");
    mech.addModel(fem1);
    fem1.setMaterial(new NullMaterial());
    AuxMaterialBundle bundle = new AuxMaterialBundle("mat");
    for (FemElement3d elem : fem1.getElements()) {
        bundle.addElement(new AuxMaterialElementDesc(elem));
    }
    fem1.addMaterialBundle(bundle);
    bundle.setMaterial(lmat);
    FemModel3d fem2 = createCylinder(h, r);
    fem2.setName("linear");
    fem2.setMaterial(lmat);
    mech.addModel(fem2);
    RigidTransform3d rot = new RigidTransform3d(Vector3d.ZERO, AxisAngle.ROT_Y_90);
    fem1.transformGeometry(rot);
    fem2.transformGeometry(rot);
    fem2.transformGeometry(new RigidTransform3d(new Vector3d(0, 2 * r, 0), AxisAngle.IDENTITY));
    RenderProps.setFaceColor(fem2, Color.MAGENTA);
    addMonitor(new StiffnessErrorMonitor(fem1, fem2));
}

Example 20 with MechModel

use of artisynth.core.mechmodels.MechModel in project artisynth_core by artisynth.

the class ForceTargetDemo method build.

public void build(String[] args) throws IOException {
    // create MechModel and add to RootModel
    mech = new MechModel("mech");
    addModel(mech);
    // create the components
    p1 = new Particle("p1", /*mass=*/
    2, /*x,y,z=*/
    0, 0, 0.15);
    p2 = new Particle("p2", 2, 10, 0, 0.15);
    p3 = new Particle("p3", 2, 5, 5, 0);
    p4 = new Particle("p4", 2, 5, -5, 0);
    p5 = new Particle("p5", 0, 5, 0, 5);
    p6 = new Particle("p6", 0, 5, 0, -5);
    box = RigidBody.createBox("box", /*wx,wy,wz=*/
    0.5, 0.3, 0.3, /*density=*/
    1);
    box.setPose(new RigidTransform3d(/*x,y,z=*/
    5, 0, -0.15));
    // create marker point and connect it to the box:
    FrameMarker mkr = new FrameMarker(/*x,y,z=*/
    0, 0, 0.15);
    mkr.setFrame(box);
    // create the muscle:
    muscle = new Muscle("mus1", /*restLength=*/
    5);
    muscle.setPoints(p1, mkr);
    muscle.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    1000));
    muscle2 = new Muscle("mus2", /*restLength=*/
    5);
    muscle2.setPoints(p2, mkr);
    muscle2.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    1000));
    muscle3 = new Muscle("mus3", /*restLength=*/
    5);
    muscle3.setPoints(p3, mkr);
    muscle3.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    muscle4 = new Muscle("mus4", /*restLength=*/
    5);
    muscle4.setPoints(p4, mkr);
    muscle4.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    muscle5 = new Muscle("mus5", /*restLength=*/
    5);
    muscle5.setPoints(p5, mkr);
    muscle5.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    muscle6 = new Muscle("mus6", /*restLength=*/
    5);
    muscle6.setPoints(p6, mkr);
    muscle6.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    if (two_cons == true) {
        RigidTransform3d XPW = new RigidTransform3d(5, 0, 0);
        XPW.R.mulAxisAngle(1, 0, 0, Math.toRadians(90));
        // Connection on the corner
        // PlanarConnector connector =
        // new PlanarConnector (box, new Vector3d (lenx/2, -2.5, 1.5), XPW);
        // Connection in the center
        con = new PlanarConnector(box, new Vector3d(0, 0, 0.15), XPW);
        con.setUnilateral(false);
        con.setPlaneSize(2);
        RenderProps props = con.createRenderProps();
        props.setPointColor(Color.blue);
        props.setPointStyle(Renderer.PointStyle.SPHERE);
        props.setPointRadius(0.06);
        con.setRenderProps(props);
        // con = new ParticlePlaneConstraint(p5, pl);
        // RenderProps.setDrawEdges (con, true);
        // RenderProps.setVisible (con, true);
        RigidTransform3d XPW2 = new RigidTransform3d(5, 0, 0);
        XPW2.R.mulAxisAngle(1, 0, 0, 0);
        // Connection on the corner
        // PlanarConnector connector =
        // new PlanarConnector (box, new Vector3d (lenx/2, -2.5, 1.5), XPW);
        // Connection in the center
        con2 = new PlanarConnector(box, new Vector3d(0, 0, 0.15), XPW2);
        con2.setUnilateral(false);
        con2.setPlaneSize(2);
        con2.setRenderProps(props);
    } else {
        RigidTransform3d XPW = new RigidTransform3d(5, 0, 0);
        XPW.R.mulAxisAngle(1, 0, 0, Math.toRadians(45));
        con = new PlanarConnector(box, new Vector3d(0, 0, 0.15), XPW);
        con.setUnilateral(false);
        con.setPlaneSize(2);
        RenderProps props = con.createRenderProps();
        props.setPointColor(Color.blue);
        props.setPointStyle(Renderer.PointStyle.SPHERE);
        props.setPointRadius(0.06);
        con.setRenderProps(props);
    }
    // con.setRenderProps (myRenderProps);
    // add components to the mech model
    mech.addParticle(p1);
    mech.addParticle(p2);
    mech.addParticle(p3);
    mech.addParticle(p4);
    mech.addParticle(p5);
    mech.addParticle(p6);
    mech.addRigidBody(box);
    mech.addFrameMarker(mkr);
    // mech.addParticle (p5);
    mech.addAxialSpring(muscle);
    mech.addAxialSpring(muscle2);
    mech.addAxialSpring(muscle3);
    mech.addAxialSpring(muscle4);
    mech.addAxialSpring(muscle5);
    mech.addAxialSpring(muscle6);
    con.setName("con1");
    if (two_cons == true) {
        con2.setName("con2");
    }
    if (cons == true) {
        mech.addBodyConnector(con);
        ConnectorForceRenderer rend = new ConnectorForceRenderer(con);
        myRenderProps = rend.createRenderProps();
        myRenderProps.setLineStyle(LineStyle.CYLINDER);
        myRenderProps.setLineRadius(0.175);
        myRenderProps.setLineColor(Color.BLUE);
        rend.setRenderProps(myRenderProps);
        rend.setArrowSize(0.1);
        addMonitor(rend);
    }
    if (two_cons == true) {
        mech.addBodyConnector(con2);
    }
    // first particle set to be fixed
    p1.setDynamic(false);
    p2.setDynamic(false);
    p3.setDynamic(false);
    p4.setDynamic(false);
    p5.setDynamic(false);
    p6.setDynamic(false);
    // increase model bounding box for the viewer
    mech.setBounds(/*min=*/
    -1, 0, -1, /*max=*/
    1, 0, 0);
    // set render properties for the components
    setPointRenderProps(p1);
    setPointRenderProps(p2);
    setPointRenderProps(p3);
    setPointRenderProps(p4);
    setPointRenderProps(p5);
    setPointRenderProps(p6);
    setPointRenderProps(mkr);
    setLineRenderProps(muscle);
    setLineRenderProps(muscle2);
    setLineRenderProps(muscle3);
    setLineRenderProps(muscle4);
    setLineRenderProps(muscle5);
    setLineRenderProps(muscle6);
    addTrackingController(mkr);
    if (cons = true) {
        addConForceProbe(10, 0.1);
    }
}